Trajectory planning for an unmanned quadrotor.

dc.creatorPucheta, Martín Alejo
dc.creatorAlberto, Nicolás
dc.creatorPaz, Claudio
dc.creatorPérez Paina, Gonzalo
dc.date.accessioned2025-06-27T20:02:18Z
dc.date.issued2016
dc.description.abstract. The quadrotor is an unmanned aerial vehicle (UAV) popular for its low-cost and broad range of application fields, inspection in harvesting environments, surveillance, cinematographic filmation, among others. Most of these applications are easily achieved if a set of predefined programmed trajecto ries or tasks are selected from a database of automatic tasks safety performed inside the limit cycle and compatible with actuators bounds. This paper presents two controllers that simultaneously coordinates the position and orientation motions of a quadrotor. The first controller is based on Euler angles and the second on quaternions. The equations of motion for the quadrotor are computed and simulated using Euler angles by means of a first-order reduction of the nonlinear Newton-Euler equations. This simulator of the plant is used to supply the observed state to simulate both controllers. The generation of trajec- tories with bounded derivatives on the velocities is used to provide continuous actions on the actuators and also prevent their saturation, enabling the minimization of trajectory tracking errors and reducing or avoiding the overshooting. Finally, the simulation for three kinematic tasks, a circle, a 8-shape, and a square trajectory are shown to test the controller behaviors and adjust their gains.
dc.description.affiliationFil: Pucheta, Martín Alejo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
dc.description.affiliationFil: Alberto, Nicolás. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
dc.description.affiliationFil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
dc.description.affiliationFil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
dc.formatpdf
dc.identifier.citationMecánica Computacional Vol XXXIV.
dc.identifier.urihttps://hdl.handle.net/20.500.12272/13372
dc.language.isoen
dc.publisherUniversidad Tecnológica Nacional Regional Córdoba.
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internationalen
dc.rights.holderPucheta, Martín Alejo; Alberto, Nicolás; Paz, Claudio; Pérez Paina, Gonzalo.
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.usehttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectQuadrotors
dc.subjectNewton-Euler dynamics
dc.subjectEuler angles
dc.subjectQuaternions
dc.subjectNonlinear Control
dc.subjectTrajectory generation
dc.titleTrajectory planning for an unmanned quadrotor.
dc.typeinfo:eu-repo/semantics/article
dc.type.versionacceptedVersion

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